DRIVING METHOD FOR ULTRAFLEXIBLE SYSTEM ELEMENT, DRIVING METHOD FOR FREE JOINT MANIPULATOR, AND MANIPULATOR

摘要

PROBLEM TO BE SOLVED: To position a tip of an articulated arm and generate potential energy in the whole arm by giving vibration and rotation to a root of an ultraflexible system element and the articulated arm. SOLUTION: Predetermined potential force is generated for the longitudinal direction of the ultraflexible system element by applying desired vibration energy to one end of the ultraflexible system element flexible in the longitudinal direction. Moreover, in a driving method for a free joint manipulator in which each of a plurality of links is connected by a joint capable of being driven freely, desired vibration energy is applied to the root of the joint connected with a holding member for holding terminals of the plurality of links to hold attitude angles of the plurality of links at desired angles by potential force generated in the plurality of links by the vibration energy. COPYRIGHT: (C)2003,JPO